cmake_minimum_required(VERSION 3.0.2)
project(auto_navigation)

## Compile as C++14, supported in ROS Kinetic and newer
add_compile_options(-std=c++14)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  std_msgs
  sensor_msgs
  geometry_msgs
  nav_msgs
  tf2
  tf2_ros
  pcl_ros
  pcl_conversions
)

find_package(PCL REQUIRED)
find_package(Boost REQUIRED COMPONENTS system filesystem)

## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)

## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()

################################################
## Declare ROS messages, services and actions ##
################################################

## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
##   * add a build_depend tag for "message_generation"
##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
##     but can be declared for certainty nonetheless:
##     * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
##   * add "message_generation" and every package in MSG_DEP_SET to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * add "message_runtime" and every package in MSG_DEP_SET to
##     catkin_package(CATKIN_DEPENDS ...)
##   * uncomment the add_*_files sections below as needed
##     and list every .msg/.srv/.action file to be processed
##   * uncomment the generate_messages entry below
##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

## Generate messages in the 'msg' folder
# add_message_files(
#   FILES
#   Message1.msg
#   Message2.msg
# )

## Generate services in the 'srv' folder
# add_service_files(
#   FILES
#   Service1.srv
#   Service2.srv
# )

## Generate actions in the 'action' folder
# add_action_files(
#   FILES
#   Action1.action
#   Action2.action
# )

## Generate added messages and services with any dependencies listed here
# generate_messages(
#   DEPENDENCIES
#   geometry_msgs#   nav_msgs#   sensor_msgs#   std_msgs
# )

################################################
## Declare ROS dynamic reconfigure parameters ##
################################################

## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
##   * add "dynamic_reconfigure" to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * uncomment the "generate_dynamic_reconfigure_options" section below
##     and list every .cfg file to be processed

## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
#   cfg/DynReconf1.cfg
#   cfg/DynReconf2.cfg
# )

###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
  INCLUDE_DIRS include
  LIBRARIES auto_navigation
  CATKIN_DEPENDS roscpp rospy std_msgs sensor_msgs geometry_msgs nav_msgs tf2 tf2_ros pcl_ros pcl_conversions
  DEPENDS PCL
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
  include
  ${catkin_INCLUDE_DIRS}
  ${PCL_INCLUDE_DIRS}
)

## Declare a C++ library
# add_library(${PROJECT_NAME}
#   src/${PROJECT_NAME}/auto_navigation.cpp
# )

# 添加规划库
add_library(planning_lib
  src/planning/planner_manager.cpp
  src/planning/astar_planner.cpp
  src/planning/pointcloud_planner.cpp
  src/planning/global_planner.cpp
)
target_link_libraries(planning_lib
  ${catkin_LIBRARIES}
  ${PCL_LIBRARIES}
)

## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_dependencies(planning_lib ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
add_executable(ndt_localizer_node src/ndt_localizer_node.cpp)
# add_executable(sensor_fusion src/localization/sensor_fusion.cpp)
add_executable(path_planning src/planning/path_planning_node.cpp)
add_executable(pointcloud_to_grid_node src/planning/pointcloud_to_grid_node.cpp)
add_executable(pointcloud_planning_node src/planning/pointcloud_planning_node.cpp src/planning/pointcloud_planner.cpp)
add_executable(global_planning_node src/planning/global_planning_node.cpp)
add_executable(kitti_data_player_node src/utils/kitti_data_player_node.cpp src/utils/kitti_data_player.cpp)
add_executable(map_evaluator src/tools/map_evaluator.cpp)
add_executable(initial_pose_publisher src/utils/initial_pose_publisher.cpp)

## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")

## Add cmake target dependencies of the executable
## same as for the library above
add_dependencies(ndt_localizer_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
# add_dependencies(sensor_fusion ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_dependencies(path_planning ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_dependencies(pointcloud_to_grid_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_dependencies(pointcloud_planning_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_dependencies(global_planning_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_dependencies(kitti_data_player_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_dependencies(map_evaluator ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_dependencies(initial_pose_publisher ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against
target_link_libraries(ndt_localizer_node
  ${catkin_LIBRARIES}
  ${PCL_LIBRARIES}
)

# target_link_libraries(sensor_fusion
#   ${catkin_LIBRARIES}
#   ${PCL_LIBRARIES}
# )

target_link_libraries(path_planning
  planning_lib
  ${catkin_LIBRARIES}
  ${PCL_LIBRARIES}
)

target_link_libraries(pointcloud_to_grid_node
  ${catkin_LIBRARIES}
  ${PCL_LIBRARIES}
)

target_link_libraries(pointcloud_planning_node
  ${catkin_LIBRARIES}
  ${PCL_LIBRARIES}
)

target_link_libraries(global_planning_node
  planning_lib
  ${catkin_LIBRARIES}
  ${PCL_LIBRARIES}
)

target_link_libraries(kitti_data_player_node
  ${catkin_LIBRARIES}
  ${PCL_LIBRARIES}
  ${Boost_LIBRARIES}
)

target_link_libraries(map_evaluator
  ${catkin_LIBRARIES}
  ${PCL_LIBRARIES}
  ${Boost_LIBRARIES}
)

target_link_libraries(initial_pose_publisher
  ${catkin_LIBRARIES}
)

#############
## Install ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
install(TARGETS ndt_localizer_node path_planning pointcloud_to_grid_node pointcloud_planning_node global_planning_node kitti_data_player_node map_evaluator initial_pose_publisher
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )

## Mark cpp header files for installation
install(DIRECTORY include/${PROJECT_NAME}/
  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
  FILES_MATCHING PATTERN "*.h" PATTERN "*.hpp"
  PATTERN ".svn" EXCLUDE
)

## Mark other files for installation (e.g. launch and bag files, etc.)
install(DIRECTORY launch/ maps/ rviz/
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_auto_navigation.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)

# 添加可执行文件
add_executable(ndt_mapper_node src/ndt_mapper_node.cpp)
target_link_libraries(ndt_mapper_node
  ${catkin_LIBRARIES}
  ${PCL_LIBRARIES}
)

# 安装启动文件
install(DIRECTORY launch/
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
  FILES_MATCHING PATTERN "*.launch"
)

# 安装配置文件
install(DIRECTORY config/
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/config
  FILES_MATCHING PATTERN "*.yaml"
)

# 安装RViz配置文件
install(DIRECTORY rviz/
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/rviz
  FILES_MATCHING PATTERN "*.rviz"
)

# 安装脚本文件
install(DIRECTORY scripts/
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/scripts
  FILES_MATCHING PATTERN "*.sh"
  PERMISSIONS OWNER_READ OWNER_WRITE OWNER_EXECUTE
              GROUP_READ GROUP_EXECUTE
              WORLD_READ WORLD_EXECUTE
)
